std_msgs/Header header

string path_name

bool direction
nav_msgs/Path path_segment

#speed limit
float32 limit_forwardSpeed
float32 limit_backwardSpeed

#fork
string fork_action
float32 ForkIntoHeight
float32 ForkDiffHeight
bool ForkReset

#obstacle area
int8 evadeArea


int8 locationType


string Destination_action


# direction
bool FWD = 0
bool BCK = 1


#local location
geometry_msgs/Point startPoint
geometry_msgs/Point endPoint
float32 reflectorDistance
float32 blindRunDistance
float32 localLocationX
float32 localLocationY
float32 localLocationAngle

float32 relative_ang

float32 plan_boundary_left
float32 plan_boundary_right
